EP1391845A3 - Image based object detection apparatus and method - Google Patents

Image based object detection apparatus and method Download PDF

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Publication number
EP1391845A3
EP1391845A3 EP03016718A EP03016718A EP1391845A3 EP 1391845 A3 EP1391845 A3 EP 1391845A3 EP 03016718 A EP03016718 A EP 03016718A EP 03016718 A EP03016718 A EP 03016718A EP 1391845 A3 EP1391845 A3 EP 1391845A3
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EP
European Patent Office
Prior art keywords
input image
image
area
self
global
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Application number
EP03016718A
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German (de)
French (fr)
Other versions
EP1391845A2 (en
EP1391845B1 (en
Inventor
Hiroshi Kondo
Koji Akatsuka
Atsushi Miura
Hiroshi Tsujino
Shinichi Nagai
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
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Honda Motor Co Ltd
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Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Publication of EP1391845A2 publication Critical patent/EP1391845A2/en
Publication of EP1391845A3 publication Critical patent/EP1391845A3/en
Application granted granted Critical
Publication of EP1391845B1 publication Critical patent/EP1391845B1/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G06T7/0008—Industrial image inspection checking presence/absence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/215—Motion-based segmentation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/254—Analysis of motion involving subtraction of images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/269—Analysis of motion using gradient-based methods

Abstract

An object detection apparatus and method capable of detecting objects based on visual images captured by a self-moving unit. A sequential images output section makes a train of a first input image and a second input image sequential to the first input image and outputs said train. A local area image processor calculates local flows based on said first input image and said second input image. An inertia information acquiring section measures self-motion of the unit to calculate inertia information thereof. A global area image processor uses said inertia information to estimate global flow, which is a motion field of the entire view associated to the self-motion, using said global flow and said first input image and creates a predictive image of said second input image. The global area image processor then calculates differential image data, which is a difference between said predictive image and said second input image. A figure-ground segregation section uses said differential image data to refine said local flows and compares the refined local flows with a predetermined threshold value to extract a figure candidate area, which is the area having a high probability of an object existing in the input image. An object presence/absence determination section determines presence/absence of objects in said figure candidate area.
EP03016718.3A 2002-07-22 2003-07-22 Image based object detection apparatus and method Expired - Fee Related EP1391845B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2002212507A JP3979894B2 (en) 2002-07-22 2002-07-22 Object detection apparatus and method
JP2002212507 2002-07-22

Publications (3)

Publication Number Publication Date
EP1391845A2 EP1391845A2 (en) 2004-02-25
EP1391845A3 true EP1391845A3 (en) 2011-06-22
EP1391845B1 EP1391845B1 (en) 2018-10-24

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP03016718.3A Expired - Fee Related EP1391845B1 (en) 2002-07-22 2003-07-22 Image based object detection apparatus and method

Country Status (3)

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US (1) US7295684B2 (en)
EP (1) EP1391845B1 (en)
JP (1) JP3979894B2 (en)

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TWI528790B (en) * 2013-12-13 2016-04-01 瑞昱半導體股份有限公司 Window detection device and method on multi-media system
CN107872613A (en) * 2016-09-23 2018-04-03 中兴通讯股份有限公司 A kind of method, device and mobile terminal that recognition of face is carried out using dual camera
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Also Published As

Publication number Publication date
EP1391845A2 (en) 2004-02-25
US20050248654A1 (en) 2005-11-10
JP2004054684A (en) 2004-02-19
JP3979894B2 (en) 2007-09-19
EP1391845B1 (en) 2018-10-24
US7295684B2 (en) 2007-11-13

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